CN107017676A - A kind of mobile robot recharging device - Google Patents
A kind of mobile robot recharging device Download PDFInfo
- Publication number
- CN107017676A CN107017676A CN201710295375.9A CN201710295375A CN107017676A CN 107017676 A CN107017676 A CN 107017676A CN 201710295375 A CN201710295375 A CN 201710295375A CN 107017676 A CN107017676 A CN 107017676A
- Authority
- CN
- China
- Prior art keywords
- elastic component
- mobile robot
- charging
- charging contacts
- support body
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0042—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction
- H02J7/0045—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction concerning the insertion or the connection of the batteries
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
- H01R13/00—Details of coupling devices of the kinds covered by groups H01R12/70 or H01R24/00 - H01R33/00
- H01R13/62—Means for facilitating engagement or disengagement of coupling parts or for holding them in engagement
- H01R13/629—Additional means for facilitating engagement or disengagement of coupling parts, e.g. aligning or guiding means, levers, gas pressure electrical locking indicators, manufacturing tolerances
- H01R13/631—Additional means for facilitating engagement or disengagement of coupling parts, e.g. aligning or guiding means, levers, gas pressure electrical locking indicators, manufacturing tolerances for engagement only
- H01R13/6315—Additional means for facilitating engagement or disengagement of coupling parts, e.g. aligning or guiding means, levers, gas pressure electrical locking indicators, manufacturing tolerances for engagement only allowing relative movement between coupling parts, e.g. floating connection
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The invention discloses a kind of mobile robot recharging device, it is related to charging pile field, including charging pile support body, docking adjustment unit and control cabinet, the docking adjustment unit is installed on inside the charging pile support body by installing plate, and only charging contacts are exposed；Inaccurate produced angle and offset deviation are aligned when the docking adjustment unit is configured as offsetting mobile robot charging；The control cabinet is electrically connected with built with charger, and the charger with the charging contacts.The docking adjustment unit includes charging contacts, elastic component group, regulation support body and C pairs, wherein, the charging contacts are connected by the way that the C is secondary with the regulation support body, and the elastic component group connects the charging contacts and the regulation support body and the charging pile support body.Mobile robot recharging device of the present invention can correct the angle produced during docking and offset deviation, and docking efficiency high automatically, and service life is long.
Description
Technical field
The present invention relates to charging pile field, more particularly to a kind of mobile robot recharging device.
Background technology
At present, mobile robot installed in its internal rechargeable battery by providing power supply, so as to realize in setting area
Given work is completed in domain.Need to be charged when battery electric quantity is relatively low, in the past using manually charging inlet is plugged, fill
Man Shizai is manually separated, and there is a situation where increase manpower and has danger in special occasions, therefore recharging stake is arisen at the historic moment.
The recharging docking of mobile robot is to install sensing detecting element additional in mobile robot, senses detecting element
The signal of sensing is transmitted to control system, the driving path of control system planning robot again is so as to achieving a butt joint.But moving machine
Device people is when automatic butt charges, often due to docking angle deviation make it that docking is unsuccessful, it is impossible to efficiently complete recharging
Action, and the fragile equipment of docking operation, cause cost high.
Therefore, those skilled in the art is directed to developing a kind of mobile robot recharging device, for docking
Angular deviation compatibility is good, and the butt joint free degree is more, and recharging connection is easy, and reliability is high.
The content of the invention
In view of the drawbacks described above of prior art, the technical problems to be solved by the invention are how to eliminate mobile robot
Mobile robot to filling when contraposition during charging is forbidden produced angle and offset deviation and how to eliminate charging docking
The impulsive force that electric stake is produced.
To achieve the above object, the invention provides a kind of mobile robot recharging device, including charging pile support body,
Adjustment unit and control cabinet are docked, the docking adjustment unit is installed on inside the charging pile support body by installing plate, only filled
Electrical contact is exposed；Produced angle is forbidden in contraposition when the docking adjustment unit is configured as offsetting mobile robot charging
And offset deviation；The control cabinet is electrically connected with built with charger, and the charger with the charging contacts.
Further, the docking adjustment unit includes charging contacts, elastic component group, regulation support body and C pairs, wherein, institute
State charging contacts to be connected with the regulation support body by the way that the C is secondary, the elastic component group connects the charging contacts and the tune
Save support body and the charging pile support body.
Further, the regulation support body is in C fonts, including upper arm, upright arm and underarm, and the C pairs are installed on described
On upright arm；The charging contacts are arranged in the C pairs by bearing pin；The underarm end is provided with U-shaped limiter.
Further, it is provided with strip hole on the upper arm.
Further, the elastic component group include the first elastic component, the second elastic component, the 3rd elastic component, the 4th elastic component,
5th elastic component and the 6th elastic component, wherein, first elastic component connects the end of the upper arm and the installing plate, described
Second elastic component and the 3rd elastic component point row both sides connect local and described installation of the upper arm close to the upright arm
Plate；4th elastic component and the 5th elastic component a point row both sides connect the charging contacts and the upper arm；Described 6th
Elastic component connects the underarm and the charging contacts.
Further, the connection of first elastic component and the installing plate is configured such that the charging contacts have
First free degree.
Further, the connection of second elastic component and the 3rd elastic component and the installing plate is configured such that described
Charging contacts have second free degree.
Further, the connection of the 4th elastic component and the 5th elastic component and the charging contacts is configured as making
Obtaining the charging contacts has Three Degree Of Freedom.
Further, the connection of the 6th elastic component and the charging contacts is configured such that the charging contacts have
There is four-degree-of-freedom.
Further, first elastic component, the second elastic component, the 3rd elastic component, the 4th elastic component, the 5th elastic component and
6th elastic component is spring.
When mobile robot is needing charging, before autonomous to the charging pile, with filling that charging pile front end is exposed
Electrical contact docking is charged, mobile robot recharging device of the present invention, can be filled in alignment charging pile
First free degree that impulsive force produced by electric process has by charging pile is buffered；Mobile robot is in alignment cradle
Second free degree that carry out the angular deviation produced by charging process has by cradle is offset；Mobile robot is right
The Three Degree Of Freedom that quasi- cradle carries out the upper and lower displacement deviation produced by charging process and had by cradle is offset；Move
Mobile robot is being directed at the left and right displacement deviation produced during cradle carries out charging process has by cradle the 4th
The free degree is offset.Mobile robot recharging device of the present invention can correct the angle produced during docking and position automatically
Deviation, and docking efficiency high are moved, service life is long.
The technique effect of the design of the present invention, concrete structure and generation is described further below with reference to accompanying drawing, with
It is fully understood from the purpose of the present invention, feature and effect.
Brief description of the drawings
Fig. 1 is the mobile robot recharging device 3-D view of the preferred embodiment of the present invention；
Fig. 2 is the 3-D view inside the recharging device of the preferred embodiment of the present invention；
Fig. 3 is the docking adjustment unit 3-D view of the preferred embodiment of the present invention；
Fig. 4 is the front view of the docking adjustment unit of the preferred embodiment of the present invention；
Fig. 5 is Fig. 4 A-A sectional views；
Wherein, 1- charging piles support body；2- docks adjustment unit；3- control cabinets；4- chargers；5- adjusts support body；6- is installed
Plate；7- charging contacts；8-C pairs；9- bearing pins；10- erection of frames axle (upper arm)；The elastic components of 11- first；The elastic components of 12- second；
The elastic components of 13- the 3rd；The elastic components of 14- the 4th；The elastic components of 15- the 5th；The elastic components of 16- the 6th.
Embodiment
Fig. 1 shows a kind of entirety of a preferred embodiment of mobile robot recharging device of the present invention
Appearance, Fig. 2 shows a kind of preferred embodiment of charging pile of the present invention.In the embodiment, this movement
Robot autonomous charging device includes charging pile support body 1, docking adjustment unit 2, control cabinet 3.It is provided with inside charging pile support body 1
Adjustment unit 2 is docked, and exposes charging contacts 7；Docking adjustment unit 2 is used to offset mobile robot charging by itself mechanism
When contraposition forbidden produced angle and offset deviation；Control cabinet 3 has built with charger 4, and charger with charging contacts
Electric wire is connected, to ensure charging pile to need charging equipment to power.
Fig. 3, Fig. 4 and Fig. 5 describe the adjustment mechanism of docking adjustment unit 2 in detail.First elastic component 11 will regulation support body 5 with
Installing plate is connected, and charging contacts 7 is had first free degree (movable)；Charging contacts 7 are arranged on C by a bearing pin 9
In pair 8, make charging contacts 7 that there is second free degree (being swung by fulcrum of bearing pin)；4th elastic component 14, the 5th elastic component
15 and the 6th elastic component 16 charging contacts 7 are suspended on the middle part of bearing pin 9, charging contacts is fluctuated, thus with the 3rd
The free degree (is moved up and down), and these three elastic components can ensure charging contacts 7 and regulation support body 5 when charging pile is in off working state
Direction is consistent；Regulation support body 5 is fixed on installing plate 6 by an erection of frames axle 10 so that regulation support body can be pacified with support body
Dress axle 10 is branch spot wobble, the swing and the second free degree collective effect so that it is (left that charging contacts 7 are provided with four-degree-of-freedom
Move right)；The erection of frames axis hole for adjusting support body 5 is a strip hole, first free degree can be carried out spacing；Second elastic component
12nd, the 3rd elastic component 13 is arranged symmetrically in regulation support body 5 rear portion two ends, it is ensured that in charging pile off working state by adjusting bracket
Body 5 retracts original state, so as to ensure that charging contacts 7 can return to original position after each power cut-off of charging pile.
The effect of first free degree is：When needing charging equipment to dock the impulsive force for producing fore-and-aft direction with charging contacts 7,
First elastic component 11 can buffer the impulsive force, while making charging contacts 7 compress charging equipment, it is ensured that charging contacts will not be with filling
Electric equipment departs from and charges and interrupt.
The effect of second free degree is：Charging contacts 7 can be freely swung with bearing pin 9 for fulcrum, and can offset needs charging
Produced angular deviation is forbidden in the contraposition of equipment, still can be suitable even if needing charging equipment to enter with relatively more crooked direction
Profit is docked.
The effect of Three Degree Of Freedom is：The effect of 4th elastic component 14, the 5th elastic component 15 and the 6th elastic component 16, charging
Contact can fluctuate along bearing pin 9, and can offset needs the contraposition of charging equipment to be forbidden produced offset deviation, reduction charging
The installation accuracy of the charge port of equipment, is eliminated because docking failure caused by the injustice of ground.
The effect of four-degree-of-freedom is：The swing of regulation support body 5 and the collective effect of second free degree make charging contacts 7 can
To realize left and right translation.
Need charging equipment contraposition it is inaccurate produced by angular deviation when, in the presence of second free degree, can make to fill
Electrical contact 7 and the charge port of charging equipment is needed to dock, but charging contacts 7 are not that, vertically into charge port, may cause equipment
Damage and docking failure.Four-degree-of-freedom can ensure charging contacts 7 vertically into charge port.
Preferred embodiment of the invention described in detail above.It should be appreciated that the ordinary skill of this area is without wound
The property made work just can make many modifications and variations according to the design of the present invention.Therefore, all technical staff in the art
Pass through the available technology of logical analysis, reasoning, or a limited experiment on the basis of existing technology under this invention's idea
Scheme, all should be in the protection domain being defined in the patent claims.
Claims (10)
1. a kind of mobile robot recharging device, it is characterised in that including charging pile support body, docking adjustment unit and control
Case, the docking adjustment unit is installed on inside the charging pile support body by installing plate, and only charging contacts are exposed；The docking
The angle and offset deviation that align produced by being forbidden when adjustment unit is configured as offsetting mobile robot charging；The control
Case is electrically connected with built with charger, and the charger with the charging contacts.
2. mobile robot recharging device as claimed in claim 1, it is characterised in that the docking adjustment unit includes
Charging contacts, elastic component group, regulation support body and C pairs, wherein, the charging contacts connect by the way that the C is secondary with the regulation support body
Connect, the elastic component group connects the charging contacts and the regulation support body and the charging pile support body.
3. mobile robot recharging device as claimed in claim 2, it is characterised in that the regulation support body is in C fonts,
Including upper arm, upright arm and underarm, the C pairs are installed on the upright arm；The charging contacts are arranged on institute by bearing pin
State in C pairs；The underarm end is provided with U-shaped limiter.
4. mobile robot recharging device as claimed in claim 3, it is characterised in that be provided with strip on the upper arm
Hole.
5. mobile robot recharging device as claimed in claim 3, it is characterised in that the elastic component group includes first
Elastic component, the second elastic component, the 3rd elastic component, the 4th elastic component, the 5th elastic component and the 6th elastic component, wherein, described first
Elastic component connects the end of the upper arm and the installing plate, and second elastic component and the 3rd elastic component point row both sides connect
Connect local and described installing plate of the upper arm close to the upright arm；4th elastic component and the 5th elastic component point row
Both sides connect the charging contacts and the upper arm；6th elastic component connects the underarm and the charging contacts.
6. mobile robot recharging device as claimed in claim 5, it is characterised in that first elastic component with it is described
The connection of installing plate is configured such that the charging contacts have first free degree.
7. mobile robot recharging device as claimed in claim 5, it is characterised in that second elastic component and the 3rd
The connection of elastic component and the installing plate is configured such that the charging contacts have second free degree.
8. mobile robot recharging device as claimed in claim 5, it is characterised in that the 4th elastic component and described
The connection of 5th elastic component and the charging contacts is configured such that the charging contacts have Three Degree Of Freedom.
9. mobile robot recharging device as claimed in claim 5, it is characterised in that the 6th elastic component with it is described
The connection of charging contacts is configured such that the charging contacts have four-degree-of-freedom.
10. mobile robot recharging device as claimed in claim 5, it is characterised in that first elastic component, second
Elastic component, the 3rd elastic component, the 4th elastic component, the 5th elastic component and the 6th elastic component are spring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710295375.9A CN107017676A (en) | 2017-04-28 | 2017-04-28 | A kind of mobile robot recharging device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710295375.9A CN107017676A (en) | 2017-04-28 | 2017-04-28 | A kind of mobile robot recharging device |
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| Publication Number | Publication Date |
|---|---|
| CN107017676A true CN107017676A (en) | 2017-08-04 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710295375.9A Pending CN107017676A (en) | 2017-04-28 | 2017-04-28 | A kind of mobile robot recharging device |
Country Status (1)
| Country | Link |
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| CN (1) | CN107017676A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108172712A (en) * | 2017-12-22 | 2018-06-15 | 斯坦德机器人（深圳）有限公司 | A kind of charging pile equipment with contraposition charging structure |
| CN108551045A (en) * | 2018-06-07 | 2018-09-18 | 斯坦德机器人（深圳）有限公司 | A kind of multivariant charging pile mechanism |
| CN109449679A (en) * | 2018-12-03 | 2019-03-08 | 北京旷视科技有限公司 | The charging station and charging system of mobile robot |
| CN110850221A (en) * | 2019-11-29 | 2020-02-28 | 上海有个机器人有限公司 | Method and system for testing robot automatic charging success rate and charging pile service life |
| EP4312341A1 (en) * | 2022-07-19 | 2024-01-31 | Tata Consultancy Services Limited | Automated docking system for charging chargeable mobile devices |
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| CN102904307A (en) * | 2012-10-18 | 2013-01-30 | 武汉大学 | Charging butt joint and separation device for inspection robot and solar charging base station |
| CN103915720A (en) * | 2014-04-08 | 2014-07-09 | 东北电力大学 | Automatic charging large-tolerance docking system of household security robot |
| CN206894272U (en) * | 2017-04-28 | 2018-01-16 | 浙江国自机器人技术有限公司 | A kind of mobile robot recharging device |
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2017
- 2017-04-28 CN CN201710295375.9A patent/CN107017676A/en active Pending
Patent Citations (5)
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| JP2002158062A (en) * | 2000-11-16 | 2002-05-31 | Denso Corp | External power connecting device for mobile robot |
| EP1819026A2 (en) * | 2006-02-14 | 2007-08-15 | HONDA MOTOR CO., Ltd. | Charging system for legged mobile robot |
| CN102904307A (en) * | 2012-10-18 | 2013-01-30 | 武汉大学 | Charging butt joint and separation device for inspection robot and solar charging base station |
| CN103915720A (en) * | 2014-04-08 | 2014-07-09 | 东北电力大学 | Automatic charging large-tolerance docking system of household security robot |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108172712A (en) * | 2017-12-22 | 2018-06-15 | 斯坦德机器人（深圳）有限公司 | A kind of charging pile equipment with contraposition charging structure |
| CN108172712B (en) * | 2017-12-22 | 2024-02-06 | 斯坦德机器人（深圳）有限公司 | Fill electric pile equipment with counterpoint charging structure |
| CN108551045A (en) * | 2018-06-07 | 2018-09-18 | 斯坦德机器人（深圳）有限公司 | A kind of multivariant charging pile mechanism |
| CN108551045B (en) * | 2018-06-07 | 2019-05-03 | 斯坦德机器人（深圳）有限公司 | A kind of multivariant charging pile mechanism |
| CN109449679A (en) * | 2018-12-03 | 2019-03-08 | 北京旷视科技有限公司 | The charging station and charging system of mobile robot |
| CN109449679B (en) * | 2018-12-03 | 2020-04-28 | 北京旷视科技有限公司 | Charging station and charging system of mobile robot |
| CN110850221A (en) * | 2019-11-29 | 2020-02-28 | 上海有个机器人有限公司 | Method and system for testing robot automatic charging success rate and charging pile service life |
| CN110850221B (en) * | 2019-11-29 | 2022-07-12 | 上海有个机器人有限公司 | Method and system for testing robot automatic charging success rate and charging pile service life |
| EP4312341A1 (en) * | 2022-07-19 | 2024-01-31 | Tata Consultancy Services Limited | Automated docking system for charging chargeable mobile devices |
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